
(define (problem roverprob7182)
        (:domain rover)
        (:objects general - lander colour - mode high_res - mode low_res - mode
         rover0 - rover rover1 - rover rover2 - rover rover3 - rover rover4 -
         rover rover5 - rover rover6 - rover rover7 - rover rover0store - store
         rover1store - store rover2store - store rover3store - store
         rover4store - store rover5store - store rover6store - store
         rover7store - store waypoint0 - waypoint waypoint1 - waypoint
         waypoint2 - waypoint waypoint3 - waypoint waypoint4 - waypoint
         waypoint5 - waypoint waypoint6 - waypoint waypoint7 - waypoint
         waypoint8 - waypoint waypoint9 - waypoint waypoint10 - waypoint
         waypoint11 - waypoint waypoint12 - waypoint waypoint13 - waypoint
         waypoint14 - waypoint waypoint15 - waypoint waypoint16 - waypoint
         waypoint17 - waypoint waypoint18 - waypoint waypoint19 - waypoint
         waypoint20 - waypoint waypoint21 - waypoint waypoint22 - waypoint
         waypoint23 - waypoint waypoint24 - waypoint camera0 - camera camera1 -
         camera camera2 - camera camera3 - camera camera4 - camera camera5 -
         camera camera6 - camera objective0 - objective objective1 - objective
         objective2 - objective objective3 - objective objective4 - objective
         objective5 - objective objective6 - objective objective7 - objective)
        (:init (visible waypoint0 waypoint5) (visible waypoint5 waypoint0)
         (visible waypoint0 waypoint15) (visible waypoint15 waypoint0)
         (visible waypoint0 waypoint23) (visible waypoint23 waypoint0)
         (visible waypoint1 waypoint23) (visible waypoint23 waypoint1)
         (visible waypoint2 waypoint1) (visible waypoint1 waypoint2)
         (visible waypoint2 waypoint5) (visible waypoint5 waypoint2)
         (visible waypoint2 waypoint6) (visible waypoint6 waypoint2)
         (visible waypoint2 waypoint14) (visible waypoint14 waypoint2)
         (visible waypoint2 waypoint16) (visible waypoint16 waypoint2)
         (visible waypoint2 waypoint23) (visible waypoint23 waypoint2)
         (visible waypoint3 waypoint1) (visible waypoint1 waypoint3)
         (visible waypoint3 waypoint13) (visible waypoint13 waypoint3)
         (visible waypoint3 waypoint15) (visible waypoint15 waypoint3)
         (visible waypoint3 waypoint18) (visible waypoint18 waypoint3)
         (visible waypoint3 waypoint20) (visible waypoint20 waypoint3)
         (visible waypoint4 waypoint1) (visible waypoint1 waypoint4)
         (visible waypoint4 waypoint6) (visible waypoint6 waypoint4)
         (visible waypoint4 waypoint13) (visible waypoint13 waypoint4)
         (visible waypoint4 waypoint16) (visible waypoint16 waypoint4)
         (visible waypoint4 waypoint19) (visible waypoint19 waypoint4)
         (visible waypoint4 waypoint20) (visible waypoint20 waypoint4)
         (visible waypoint5 waypoint1) (visible waypoint1 waypoint5)
         (visible waypoint5 waypoint4) (visible waypoint4 waypoint5)
         (visible waypoint5 waypoint8) (visible waypoint8 waypoint5)
         (visible waypoint5 waypoint16) (visible waypoint16 waypoint5)
         (visible waypoint6 waypoint5) (visible waypoint5 waypoint6)
         (visible waypoint6 waypoint8) (visible waypoint8 waypoint6)
         (visible waypoint6 waypoint9) (visible waypoint9 waypoint6)
         (visible waypoint6 waypoint11) (visible waypoint11 waypoint6)
         (visible waypoint6 waypoint21) (visible waypoint21 waypoint6)
         (visible waypoint7 waypoint0) (visible waypoint0 waypoint7)
         (visible waypoint7 waypoint4) (visible waypoint4 waypoint7)
         (visible waypoint7 waypoint8) (visible waypoint8 waypoint7)
         (visible waypoint7 waypoint16) (visible waypoint16 waypoint7)
         (visible waypoint7 waypoint17) (visible waypoint17 waypoint7)
         (visible waypoint8 waypoint4) (visible waypoint4 waypoint8)
         (visible waypoint8 waypoint16) (visible waypoint16 waypoint8)
         (visible waypoint8 waypoint17) (visible waypoint17 waypoint8)
         (visible waypoint9 waypoint2) (visible waypoint2 waypoint9)
         (visible waypoint9 waypoint5) (visible waypoint5 waypoint9)
         (visible waypoint9 waypoint7) (visible waypoint7 waypoint9)
         (visible waypoint9 waypoint14) (visible waypoint14 waypoint9)
         (visible waypoint9 waypoint17) (visible waypoint17 waypoint9)
         (visible waypoint10 waypoint11) (visible waypoint11 waypoint10)
         (visible waypoint10 waypoint15) (visible waypoint15 waypoint10)
         (visible waypoint11 waypoint8) (visible waypoint8 waypoint11)
         (visible waypoint11 waypoint19) (visible waypoint19 waypoint11)
         (visible waypoint12 waypoint3) (visible waypoint3 waypoint12)
         (visible waypoint12 waypoint6) (visible waypoint6 waypoint12)
         (visible waypoint12 waypoint11) (visible waypoint11 waypoint12)
         (visible waypoint12 waypoint13) (visible waypoint13 waypoint12)
         (visible waypoint12 waypoint19) (visible waypoint19 waypoint12)
         (visible waypoint12 waypoint22) (visible waypoint22 waypoint12)
         (visible waypoint12 waypoint23) (visible waypoint23 waypoint12)
         (visible waypoint12 waypoint24) (visible waypoint24 waypoint12)
         (visible waypoint13 waypoint14) (visible waypoint14 waypoint13)
         (visible waypoint13 waypoint15) (visible waypoint15 waypoint13)
         (visible waypoint13 waypoint20) (visible waypoint20 waypoint13)
         (visible waypoint14 waypoint0) (visible waypoint0 waypoint14)
         (visible waypoint14 waypoint1) (visible waypoint1 waypoint14)
         (visible waypoint14 waypoint5) (visible waypoint5 waypoint14)
         (visible waypoint14 waypoint6) (visible waypoint6 waypoint14)
         (visible waypoint14 waypoint8) (visible waypoint8 waypoint14)
         (visible waypoint14 waypoint12) (visible waypoint12 waypoint14)
         (visible waypoint14 waypoint20) (visible waypoint20 waypoint14)
         (visible waypoint15 waypoint1) (visible waypoint1 waypoint15)
         (visible waypoint15 waypoint6) (visible waypoint6 waypoint15)
         (visible waypoint15 waypoint12) (visible waypoint12 waypoint15)
         (visible waypoint15 waypoint16) (visible waypoint16 waypoint15)
         (visible waypoint16 waypoint10) (visible waypoint10 waypoint16)
         (visible waypoint16 waypoint20) (visible waypoint20 waypoint16)
         (visible waypoint17 waypoint11) (visible waypoint11 waypoint17)
         (visible waypoint17 waypoint14) (visible waypoint14 waypoint17)
         (visible waypoint17 waypoint15) (visible waypoint15 waypoint17)
         (visible waypoint17 waypoint18) (visible waypoint18 waypoint17)
         (visible waypoint17 waypoint20) (visible waypoint20 waypoint17)
         (visible waypoint18 waypoint0) (visible waypoint0 waypoint18)
         (visible waypoint18 waypoint1) (visible waypoint1 waypoint18)
         (visible waypoint18 waypoint6) (visible waypoint6 waypoint18)
         (visible waypoint18 waypoint8) (visible waypoint8 waypoint18)
         (visible waypoint18 waypoint9) (visible waypoint9 waypoint18)
         (visible waypoint18 waypoint10) (visible waypoint10 waypoint18)
         (visible waypoint19 waypoint6) (visible waypoint6 waypoint19)
         (visible waypoint19 waypoint21) (visible waypoint21 waypoint19)
         (visible waypoint20 waypoint19) (visible waypoint19 waypoint20)
         (visible waypoint21 waypoint4) (visible waypoint4 waypoint21)
         (visible waypoint21 waypoint5) (visible waypoint5 waypoint21)
         (visible waypoint21 waypoint8) (visible waypoint8 waypoint21)
         (visible waypoint21 waypoint11) (visible waypoint11 waypoint21)
         (visible waypoint21 waypoint13) (visible waypoint13 waypoint21)
         (visible waypoint21 waypoint17) (visible waypoint17 waypoint21)
         (visible waypoint21 waypoint18) (visible waypoint18 waypoint21)
         (visible waypoint22 waypoint11) (visible waypoint11 waypoint22)
         (visible waypoint22 waypoint16) (visible waypoint16 waypoint22)
         (visible waypoint22 waypoint21) (visible waypoint21 waypoint22)
         (visible waypoint23 waypoint10) (visible waypoint10 waypoint23)
         (visible waypoint23 waypoint18) (visible waypoint18 waypoint23)
         (visible waypoint23 waypoint20) (visible waypoint20 waypoint23)
         (visible waypoint24 waypoint5) (visible waypoint5 waypoint24)
         (visible waypoint24 waypoint7) (visible waypoint7 waypoint24)
         (visible waypoint24 waypoint18) (visible waypoint18 waypoint24)
         (visible waypoint24 waypoint20) (visible waypoint20 waypoint24)
         (visible waypoint24 waypoint23) (visible waypoint23 waypoint24)
         (at_soil_sample waypoint0) (at_soil_sample waypoint1)
         (at_soil_sample waypoint7) (at_rock_sample waypoint7)
         (at_soil_sample waypoint8) (at_soil_sample waypoint9)
         (at_rock_sample waypoint9) (at_rock_sample waypoint10)
         (at_soil_sample waypoint11) (at_rock_sample waypoint12)
         (at_soil_sample waypoint13) (at_rock_sample waypoint14)
         (at_soil_sample waypoint15) (at_rock_sample waypoint16)
         (at_soil_sample waypoint17) (at_soil_sample waypoint18)
         (at_rock_sample waypoint18) (at_soil_sample waypoint20)
         (at_rock_sample waypoint21) (at_soil_sample waypoint22)
         (at_rock_sample waypoint22) (at_soil_sample waypoint23)
         (at_soil_sample waypoint24) (at_lander general waypoint1)
         (channel_free general) (at rover0 waypoint22) (available rover0)
         (store_of rover0store rover0) (empty rover0store)
         (equipped_for_soil_analysis rover0) (equipped_for_imaging rover0)
         (can_traverse rover0 waypoint22 waypoint11)
         (can_traverse rover0 waypoint11 waypoint22)
         (can_traverse rover0 waypoint22 waypoint12)
         (can_traverse rover0 waypoint12 waypoint22)
         (can_traverse rover0 waypoint22 waypoint21)
         (can_traverse rover0 waypoint21 waypoint22)
         (can_traverse rover0 waypoint11 waypoint6)
         (can_traverse rover0 waypoint6 waypoint11)
         (can_traverse rover0 waypoint11 waypoint8)
         (can_traverse rover0 waypoint8 waypoint11)
         (can_traverse rover0 waypoint11 waypoint10)
         (can_traverse rover0 waypoint10 waypoint11)
         (can_traverse rover0 waypoint11 waypoint17)
         (can_traverse rover0 waypoint17 waypoint11)
         (can_traverse rover0 waypoint11 waypoint19)
         (can_traverse rover0 waypoint19 waypoint11)
         (can_traverse rover0 waypoint12 waypoint13)
         (can_traverse rover0 waypoint13 waypoint12)
         (can_traverse rover0 waypoint12 waypoint15)
         (can_traverse rover0 waypoint15 waypoint12)
         (can_traverse rover0 waypoint12 waypoint24)
         (can_traverse rover0 waypoint24 waypoint12)
         (can_traverse rover0 waypoint21 waypoint4)
         (can_traverse rover0 waypoint4 waypoint21)
         (can_traverse rover0 waypoint21 waypoint5)
         (can_traverse rover0 waypoint5 waypoint21)
         (can_traverse rover0 waypoint21 waypoint18)
         (can_traverse rover0 waypoint18 waypoint21)
         (can_traverse rover0 waypoint6 waypoint2)
         (can_traverse rover0 waypoint2 waypoint6)
         (can_traverse rover0 waypoint6 waypoint9)
         (can_traverse rover0 waypoint9 waypoint6)
         (can_traverse rover0 waypoint6 waypoint14)
         (can_traverse rover0 waypoint14 waypoint6)
         (can_traverse rover0 waypoint8 waypoint7)
         (can_traverse rover0 waypoint7 waypoint8)
         (can_traverse rover0 waypoint17 waypoint20)
         (can_traverse rover0 waypoint20 waypoint17)
         (can_traverse rover0 waypoint13 waypoint3)
         (can_traverse rover0 waypoint3 waypoint13)
         (can_traverse rover0 waypoint15 waypoint1)
         (can_traverse rover0 waypoint1 waypoint15)
         (can_traverse rover0 waypoint15 waypoint16)
         (can_traverse rover0 waypoint16 waypoint15)
         (can_traverse rover0 waypoint24 waypoint23)
         (can_traverse rover0 waypoint23 waypoint24)
         (can_traverse rover0 waypoint5 waypoint0)
         (can_traverse rover0 waypoint0 waypoint5) (at rover1 waypoint4)
         (available rover1) (store_of rover1store rover1) (empty rover1store)
         (equipped_for_imaging rover1)
         (can_traverse rover1 waypoint4 waypoint1)
         (can_traverse rover1 waypoint1 waypoint4)
         (can_traverse rover1 waypoint4 waypoint5)
         (can_traverse rover1 waypoint5 waypoint4)
         (can_traverse rover1 waypoint4 waypoint6)
         (can_traverse rover1 waypoint6 waypoint4)
         (can_traverse rover1 waypoint4 waypoint13)
         (can_traverse rover1 waypoint13 waypoint4)
         (can_traverse rover1 waypoint4 waypoint16)
         (can_traverse rover1 waypoint16 waypoint4)
         (can_traverse rover1 waypoint4 waypoint19)
         (can_traverse rover1 waypoint19 waypoint4)
         (can_traverse rover1 waypoint4 waypoint20)
         (can_traverse rover1 waypoint20 waypoint4)
         (can_traverse rover1 waypoint4 waypoint21)
         (can_traverse rover1 waypoint21 waypoint4)
         (can_traverse rover1 waypoint1 waypoint14)
         (can_traverse rover1 waypoint14 waypoint1)
         (can_traverse rover1 waypoint1 waypoint15)
         (can_traverse rover1 waypoint15 waypoint1)
         (can_traverse rover1 waypoint1 waypoint18)
         (can_traverse rover1 waypoint18 waypoint1)
         (can_traverse rover1 waypoint5 waypoint0)
         (can_traverse rover1 waypoint0 waypoint5)
         (can_traverse rover1 waypoint5 waypoint2)
         (can_traverse rover1 waypoint2 waypoint5)
         (can_traverse rover1 waypoint5 waypoint8)
         (can_traverse rover1 waypoint8 waypoint5)
         (can_traverse rover1 waypoint5 waypoint9)
         (can_traverse rover1 waypoint9 waypoint5)
         (can_traverse rover1 waypoint5 waypoint24)
         (can_traverse rover1 waypoint24 waypoint5)
         (can_traverse rover1 waypoint6 waypoint11)
         (can_traverse rover1 waypoint11 waypoint6)
         (can_traverse rover1 waypoint6 waypoint12)
         (can_traverse rover1 waypoint12 waypoint6)
         (can_traverse rover1 waypoint13 waypoint3)
         (can_traverse rover1 waypoint3 waypoint13)
         (can_traverse rover1 waypoint16 waypoint22)
         (can_traverse rover1 waypoint22 waypoint16)
         (can_traverse rover1 waypoint20 waypoint17)
         (can_traverse rover1 waypoint17 waypoint20)
         (can_traverse rover1 waypoint18 waypoint10)
         (can_traverse rover1 waypoint10 waypoint18)
         (can_traverse rover1 waypoint18 waypoint23)
         (can_traverse rover1 waypoint23 waypoint18)
         (can_traverse rover1 waypoint0 waypoint7)
         (can_traverse rover1 waypoint7 waypoint0) (at rover2 waypoint3)
         (available rover2) (store_of rover2store rover2) (empty rover2store)
         (equipped_for_rock_analysis rover2) (equipped_for_imaging rover2)
         (can_traverse rover2 waypoint3 waypoint1)
         (can_traverse rover2 waypoint1 waypoint3)
         (can_traverse rover2 waypoint3 waypoint13)
         (can_traverse rover2 waypoint13 waypoint3)
         (can_traverse rover2 waypoint3 waypoint18)
         (can_traverse rover2 waypoint18 waypoint3)
         (can_traverse rover2 waypoint3 waypoint20)
         (can_traverse rover2 waypoint20 waypoint3)
         (can_traverse rover2 waypoint1 waypoint2)
         (can_traverse rover2 waypoint2 waypoint1)
         (can_traverse rover2 waypoint1 waypoint5)
         (can_traverse rover2 waypoint5 waypoint1)
         (can_traverse rover2 waypoint1 waypoint14)
         (can_traverse rover2 waypoint14 waypoint1)
         (can_traverse rover2 waypoint1 waypoint15)
         (can_traverse rover2 waypoint15 waypoint1)
         (can_traverse rover2 waypoint13 waypoint4)
         (can_traverse rover2 waypoint4 waypoint13)
         (can_traverse rover2 waypoint13 waypoint21)
         (can_traverse rover2 waypoint21 waypoint13)
         (can_traverse rover2 waypoint18 waypoint6)
         (can_traverse rover2 waypoint6 waypoint18)
         (can_traverse rover2 waypoint18 waypoint9)
         (can_traverse rover2 waypoint9 waypoint18)
         (can_traverse rover2 waypoint18 waypoint17)
         (can_traverse rover2 waypoint17 waypoint18)
         (can_traverse rover2 waypoint18 waypoint23)
         (can_traverse rover2 waypoint23 waypoint18)
         (can_traverse rover2 waypoint18 waypoint24)
         (can_traverse rover2 waypoint24 waypoint18)
         (can_traverse rover2 waypoint20 waypoint16)
         (can_traverse rover2 waypoint16 waypoint20)
         (can_traverse rover2 waypoint20 waypoint19)
         (can_traverse rover2 waypoint19 waypoint20)
         (can_traverse rover2 waypoint5 waypoint0)
         (can_traverse rover2 waypoint0 waypoint5)
         (can_traverse rover2 waypoint5 waypoint8)
         (can_traverse rover2 waypoint8 waypoint5)
         (can_traverse rover2 waypoint14 waypoint12)
         (can_traverse rover2 waypoint12 waypoint14)
         (can_traverse rover2 waypoint15 waypoint10)
         (can_traverse rover2 waypoint10 waypoint15)
         (can_traverse rover2 waypoint4 waypoint7)
         (can_traverse rover2 waypoint7 waypoint4)
         (can_traverse rover2 waypoint21 waypoint11)
         (can_traverse rover2 waypoint11 waypoint21)
         (can_traverse rover2 waypoint21 waypoint22)
         (can_traverse rover2 waypoint22 waypoint21) (at rover3 waypoint3)
         (available rover3) (store_of rover3store rover3) (empty rover3store)
         (equipped_for_soil_analysis rover3)
         (equipped_for_rock_analysis rover3)
         (can_traverse rover3 waypoint3 waypoint1)
         (can_traverse rover3 waypoint1 waypoint3)
         (can_traverse rover3 waypoint3 waypoint12)
         (can_traverse rover3 waypoint12 waypoint3)
         (can_traverse rover3 waypoint3 waypoint13)
         (can_traverse rover3 waypoint13 waypoint3)
         (can_traverse rover3 waypoint3 waypoint18)
         (can_traverse rover3 waypoint18 waypoint3)
         (can_traverse rover3 waypoint3 waypoint20)
         (can_traverse rover3 waypoint20 waypoint3)
         (can_traverse rover3 waypoint1 waypoint2)
         (can_traverse rover3 waypoint2 waypoint1)
         (can_traverse rover3 waypoint1 waypoint4)
         (can_traverse rover3 waypoint4 waypoint1)
         (can_traverse rover3 waypoint1 waypoint5)
         (can_traverse rover3 waypoint5 waypoint1)
         (can_traverse rover3 waypoint1 waypoint14)
         (can_traverse rover3 waypoint14 waypoint1)
         (can_traverse rover3 waypoint1 waypoint15)
         (can_traverse rover3 waypoint15 waypoint1)
         (can_traverse rover3 waypoint1 waypoint23)
         (can_traverse rover3 waypoint23 waypoint1)
         (can_traverse rover3 waypoint12 waypoint6)
         (can_traverse rover3 waypoint6 waypoint12)
         (can_traverse rover3 waypoint12 waypoint19)
         (can_traverse rover3 waypoint19 waypoint12)
         (can_traverse rover3 waypoint12 waypoint22)
         (can_traverse rover3 waypoint22 waypoint12)
         (can_traverse rover3 waypoint12 waypoint24)
         (can_traverse rover3 waypoint24 waypoint12)
         (can_traverse rover3 waypoint13 waypoint21)
         (can_traverse rover3 waypoint21 waypoint13)
         (can_traverse rover3 waypoint18 waypoint0)
         (can_traverse rover3 waypoint0 waypoint18)
         (can_traverse rover3 waypoint18 waypoint9)
         (can_traverse rover3 waypoint9 waypoint18)
         (can_traverse rover3 waypoint18 waypoint17)
         (can_traverse rover3 waypoint17 waypoint18)
         (can_traverse rover3 waypoint20 waypoint16)
         (can_traverse rover3 waypoint16 waypoint20)
         (can_traverse rover3 waypoint4 waypoint7)
         (can_traverse rover3 waypoint7 waypoint4)
         (can_traverse rover3 waypoint4 waypoint8)
         (can_traverse rover3 waypoint8 waypoint4)
         (can_traverse rover3 waypoint6 waypoint11)
         (can_traverse rover3 waypoint11 waypoint6)
         (can_traverse rover3 waypoint16 waypoint10)
         (can_traverse rover3 waypoint10 waypoint16) (at rover4 waypoint16)
         (available rover4) (store_of rover4store rover4) (empty rover4store)
         (equipped_for_rock_analysis rover4) (equipped_for_imaging rover4)
         (can_traverse rover4 waypoint16 waypoint2)
         (can_traverse rover4 waypoint2 waypoint16)
         (can_traverse rover4 waypoint16 waypoint4)
         (can_traverse rover4 waypoint4 waypoint16)
         (can_traverse rover4 waypoint16 waypoint5)
         (can_traverse rover4 waypoint5 waypoint16)
         (can_traverse rover4 waypoint16 waypoint7)
         (can_traverse rover4 waypoint7 waypoint16)
         (can_traverse rover4 waypoint16 waypoint8)
         (can_traverse rover4 waypoint8 waypoint16)
         (can_traverse rover4 waypoint16 waypoint10)
         (can_traverse rover4 waypoint10 waypoint16)
         (can_traverse rover4 waypoint16 waypoint15)
         (can_traverse rover4 waypoint15 waypoint16)
         (can_traverse rover4 waypoint16 waypoint22)
         (can_traverse rover4 waypoint22 waypoint16)
         (can_traverse rover4 waypoint2 waypoint9)
         (can_traverse rover4 waypoint9 waypoint2)
         (can_traverse rover4 waypoint2 waypoint14)
         (can_traverse rover4 waypoint14 waypoint2)
         (can_traverse rover4 waypoint4 waypoint1)
         (can_traverse rover4 waypoint1 waypoint4)
         (can_traverse rover4 waypoint4 waypoint13)
         (can_traverse rover4 waypoint13 waypoint4)
         (can_traverse rover4 waypoint4 waypoint20)
         (can_traverse rover4 waypoint20 waypoint4)
         (can_traverse rover4 waypoint5 waypoint0)
         (can_traverse rover4 waypoint0 waypoint5)
         (can_traverse rover4 waypoint5 waypoint21)
         (can_traverse rover4 waypoint21 waypoint5)
         (can_traverse rover4 waypoint5 waypoint24)
         (can_traverse rover4 waypoint24 waypoint5)
         (can_traverse rover4 waypoint7 waypoint17)
         (can_traverse rover4 waypoint17 waypoint7)
         (can_traverse rover4 waypoint8 waypoint11)
         (can_traverse rover4 waypoint11 waypoint8)
         (can_traverse rover4 waypoint8 waypoint18)
         (can_traverse rover4 waypoint18 waypoint8)
         (can_traverse rover4 waypoint15 waypoint3)
         (can_traverse rover4 waypoint3 waypoint15)
         (can_traverse rover4 waypoint15 waypoint6)
         (can_traverse rover4 waypoint6 waypoint15)
         (can_traverse rover4 waypoint15 waypoint12)
         (can_traverse rover4 waypoint12 waypoint15)
         (can_traverse rover4 waypoint20 waypoint23)
         (can_traverse rover4 waypoint23 waypoint20)
         (can_traverse rover4 waypoint21 waypoint19)
         (can_traverse rover4 waypoint19 waypoint21) (at rover5 waypoint10)
         (available rover5) (store_of rover5store rover5) (empty rover5store)
         (equipped_for_imaging rover5)
         (can_traverse rover5 waypoint10 waypoint11)
         (can_traverse rover5 waypoint11 waypoint10)
         (can_traverse rover5 waypoint10 waypoint15)
         (can_traverse rover5 waypoint15 waypoint10)
         (can_traverse rover5 waypoint10 waypoint16)
         (can_traverse rover5 waypoint16 waypoint10)
         (can_traverse rover5 waypoint10 waypoint18)
         (can_traverse rover5 waypoint18 waypoint10)
         (can_traverse rover5 waypoint10 waypoint23)
         (can_traverse rover5 waypoint23 waypoint10)
         (can_traverse rover5 waypoint11 waypoint6)
         (can_traverse rover5 waypoint6 waypoint11)
         (can_traverse rover5 waypoint11 waypoint8)
         (can_traverse rover5 waypoint8 waypoint11)
         (can_traverse rover5 waypoint11 waypoint12)
         (can_traverse rover5 waypoint12 waypoint11)
         (can_traverse rover5 waypoint11 waypoint21)
         (can_traverse rover5 waypoint21 waypoint11)
         (can_traverse rover5 waypoint11 waypoint22)
         (can_traverse rover5 waypoint22 waypoint11)
         (can_traverse rover5 waypoint15 waypoint0)
         (can_traverse rover5 waypoint0 waypoint15)
         (can_traverse rover5 waypoint15 waypoint1)
         (can_traverse rover5 waypoint1 waypoint15)
         (can_traverse rover5 waypoint15 waypoint13)
         (can_traverse rover5 waypoint13 waypoint15)
         (can_traverse rover5 waypoint15 waypoint17)
         (can_traverse rover5 waypoint17 waypoint15)
         (can_traverse rover5 waypoint16 waypoint2)
         (can_traverse rover5 waypoint2 waypoint16)
         (can_traverse rover5 waypoint16 waypoint4)
         (can_traverse rover5 waypoint4 waypoint16)
         (can_traverse rover5 waypoint16 waypoint7)
         (can_traverse rover5 waypoint7 waypoint16)
         (can_traverse rover5 waypoint18 waypoint3)
         (can_traverse rover5 waypoint3 waypoint18)
         (can_traverse rover5 waypoint23 waypoint20)
         (can_traverse rover5 waypoint20 waypoint23)
         (can_traverse rover5 waypoint23 waypoint24)
         (can_traverse rover5 waypoint24 waypoint23)
         (can_traverse rover5 waypoint6 waypoint5)
         (can_traverse rover5 waypoint5 waypoint6)
         (can_traverse rover5 waypoint6 waypoint9)
         (can_traverse rover5 waypoint9 waypoint6)
         (can_traverse rover5 waypoint6 waypoint14)
         (can_traverse rover5 waypoint14 waypoint6)
         (can_traverse rover5 waypoint6 waypoint19)
         (can_traverse rover5 waypoint19 waypoint6) (at rover6 waypoint4)
         (available rover6) (store_of rover6store rover6) (empty rover6store)
         (equipped_for_soil_analysis rover6) (equipped_for_imaging rover6)
         (can_traverse rover6 waypoint4 waypoint1)
         (can_traverse rover6 waypoint1 waypoint4)
         (can_traverse rover6 waypoint4 waypoint6)
         (can_traverse rover6 waypoint6 waypoint4)
         (can_traverse rover6 waypoint4 waypoint8)
         (can_traverse rover6 waypoint8 waypoint4)
         (can_traverse rover6 waypoint4 waypoint13)
         (can_traverse rover6 waypoint13 waypoint4)
         (can_traverse rover6 waypoint4 waypoint16)
         (can_traverse rover6 waypoint16 waypoint4)
         (can_traverse rover6 waypoint4 waypoint19)
         (can_traverse rover6 waypoint19 waypoint4)
         (can_traverse rover6 waypoint4 waypoint20)
         (can_traverse rover6 waypoint20 waypoint4)
         (can_traverse rover6 waypoint1 waypoint3)
         (can_traverse rover6 waypoint3 waypoint1)
         (can_traverse rover6 waypoint1 waypoint5)
         (can_traverse rover6 waypoint5 waypoint1)
         (can_traverse rover6 waypoint1 waypoint14)
         (can_traverse rover6 waypoint14 waypoint1)
         (can_traverse rover6 waypoint1 waypoint18)
         (can_traverse rover6 waypoint18 waypoint1)
         (can_traverse rover6 waypoint1 waypoint23)
         (can_traverse rover6 waypoint23 waypoint1)
         (can_traverse rover6 waypoint6 waypoint2)
         (can_traverse rover6 waypoint2 waypoint6)
         (can_traverse rover6 waypoint6 waypoint9)
         (can_traverse rover6 waypoint9 waypoint6)
         (can_traverse rover6 waypoint6 waypoint11)
         (can_traverse rover6 waypoint11 waypoint6)
         (can_traverse rover6 waypoint6 waypoint12)
         (can_traverse rover6 waypoint12 waypoint6)
         (can_traverse rover6 waypoint6 waypoint15)
         (can_traverse rover6 waypoint15 waypoint6)
         (can_traverse rover6 waypoint6 waypoint21)
         (can_traverse rover6 waypoint21 waypoint6)
         (can_traverse rover6 waypoint8 waypoint17)
         (can_traverse rover6 waypoint17 waypoint8)
         (can_traverse rover6 waypoint16 waypoint7)
         (can_traverse rover6 waypoint7 waypoint16)
         (can_traverse rover6 waypoint16 waypoint10)
         (can_traverse rover6 waypoint10 waypoint16)
         (can_traverse rover6 waypoint16 waypoint22)
         (can_traverse rover6 waypoint22 waypoint16)
         (can_traverse rover6 waypoint20 waypoint24)
         (can_traverse rover6 waypoint24 waypoint20)
         (can_traverse rover6 waypoint23 waypoint0)
         (can_traverse rover6 waypoint0 waypoint23) (at rover7 waypoint16)
         (available rover7) (store_of rover7store rover7) (empty rover7store)
         (equipped_for_rock_analysis rover7)
         (can_traverse rover7 waypoint16 waypoint2)
         (can_traverse rover7 waypoint2 waypoint16)
         (can_traverse rover7 waypoint16 waypoint4)
         (can_traverse rover7 waypoint4 waypoint16)
         (can_traverse rover7 waypoint16 waypoint8)
         (can_traverse rover7 waypoint8 waypoint16)
         (can_traverse rover7 waypoint16 waypoint10)
         (can_traverse rover7 waypoint10 waypoint16)
         (can_traverse rover7 waypoint16 waypoint20)
         (can_traverse rover7 waypoint20 waypoint16)
         (can_traverse rover7 waypoint2 waypoint5)
         (can_traverse rover7 waypoint5 waypoint2)
         (can_traverse rover7 waypoint2 waypoint6)
         (can_traverse rover7 waypoint6 waypoint2)
         (can_traverse rover7 waypoint2 waypoint9)
         (can_traverse rover7 waypoint9 waypoint2)
         (can_traverse rover7 waypoint2 waypoint14)
         (can_traverse rover7 waypoint14 waypoint2)
         (can_traverse rover7 waypoint2 waypoint23)
         (can_traverse rover7 waypoint23 waypoint2)
         (can_traverse rover7 waypoint4 waypoint13)
         (can_traverse rover7 waypoint13 waypoint4)
         (can_traverse rover7 waypoint4 waypoint19)
         (can_traverse rover7 waypoint19 waypoint4)
         (can_traverse rover7 waypoint8 waypoint7)
         (can_traverse rover7 waypoint7 waypoint8)
         (can_traverse rover7 waypoint8 waypoint17)
         (can_traverse rover7 waypoint17 waypoint8)
         (can_traverse rover7 waypoint8 waypoint18)
         (can_traverse rover7 waypoint18 waypoint8)
         (can_traverse rover7 waypoint10 waypoint11)
         (can_traverse rover7 waypoint11 waypoint10)
         (can_traverse rover7 waypoint10 waypoint15)
         (can_traverse rover7 waypoint15 waypoint10)
         (can_traverse rover7 waypoint20 waypoint3)
         (can_traverse rover7 waypoint3 waypoint20)
         (can_traverse rover7 waypoint20 waypoint24)
         (can_traverse rover7 waypoint24 waypoint20)
         (can_traverse rover7 waypoint5 waypoint21)
         (can_traverse rover7 waypoint21 waypoint5)
         (can_traverse rover7 waypoint6 waypoint12)
         (can_traverse rover7 waypoint12 waypoint6)
         (can_traverse rover7 waypoint14 waypoint0)
         (can_traverse rover7 waypoint0 waypoint14)
         (can_traverse rover7 waypoint14 waypoint1)
         (can_traverse rover7 waypoint1 waypoint14) (on_board camera0 rover0)
         (calibration_target camera0 objective6) (supports camera0 colour)
         (supports camera0 high_res) (on_board camera1 rover1)
         (calibration_target camera1 objective1) (supports camera1 colour)
         (supports camera1 high_res) (on_board camera2 rover4)
         (calibration_target camera2 objective0) (supports camera2 colour)
         (supports camera2 high_res) (supports camera2 low_res)
         (on_board camera3 rover2) (calibration_target camera3 objective2)
         (supports camera3 high_res) (supports camera3 low_res)
         (on_board camera4 rover1) (calibration_target camera4 objective4)
         (supports camera4 colour) (supports camera4 high_res)
         (on_board camera5 rover5) (calibration_target camera5 objective4)
         (supports camera5 high_res) (on_board camera6 rover6)
         (calibration_target camera6 objective5) (supports camera6 colour)
         (supports camera6 high_res) (supports camera6 low_res)
         (visible_from objective0 waypoint0)
         (visible_from objective0 waypoint1)
         (visible_from objective0 waypoint2)
         (visible_from objective0 waypoint3)
         (visible_from objective0 waypoint4)
         (visible_from objective0 waypoint5)
         (visible_from objective0 waypoint6)
         (visible_from objective0 waypoint7)
         (visible_from objective0 waypoint8)
         (visible_from objective0 waypoint9)
         (visible_from objective0 waypoint10)
         (visible_from objective0 waypoint11)
         (visible_from objective0 waypoint12)
         (visible_from objective0 waypoint13)
         (visible_from objective0 waypoint14)
         (visible_from objective0 waypoint15)
         (visible_from objective0 waypoint16)
         (visible_from objective1 waypoint0)
         (visible_from objective1 waypoint1)
         (visible_from objective1 waypoint2)
         (visible_from objective1 waypoint3)
         (visible_from objective2 waypoint0)
         (visible_from objective2 waypoint1)
         (visible_from objective2 waypoint2)
         (visible_from objective2 waypoint3)
         (visible_from objective2 waypoint4)
         (visible_from objective2 waypoint5)
         (visible_from objective2 waypoint6)
         (visible_from objective2 waypoint7)
         (visible_from objective2 waypoint8)
         (visible_from objective2 waypoint9)
         (visible_from objective2 waypoint10)
         (visible_from objective2 waypoint11)
         (visible_from objective2 waypoint12)
         (visible_from objective2 waypoint13)
         (visible_from objective2 waypoint14)
         (visible_from objective2 waypoint15)
         (visible_from objective2 waypoint16)
         (visible_from objective2 waypoint17)
         (visible_from objective3 waypoint0)
         (visible_from objective3 waypoint1)
         (visible_from objective3 waypoint2)
         (visible_from objective3 waypoint3)
         (visible_from objective3 waypoint4)
         (visible_from objective3 waypoint5)
         (visible_from objective3 waypoint6)
         (visible_from objective3 waypoint7)
         (visible_from objective3 waypoint8)
         (visible_from objective3 waypoint9)
         (visible_from objective3 waypoint10)
         (visible_from objective3 waypoint11)
         (visible_from objective3 waypoint12)
         (visible_from objective3 waypoint13)
         (visible_from objective3 waypoint14)
         (visible_from objective3 waypoint15)
         (visible_from objective3 waypoint16)
         (visible_from objective3 waypoint17)
         (visible_from objective3 waypoint18)
         (visible_from objective3 waypoint19)
         (visible_from objective4 waypoint0)
         (visible_from objective4 waypoint1)
         (visible_from objective4 waypoint2)
         (visible_from objective4 waypoint3)
         (visible_from objective4 waypoint4)
         (visible_from objective4 waypoint5)
         (visible_from objective4 waypoint6)
         (visible_from objective4 waypoint7)
         (visible_from objective4 waypoint8)
         (visible_from objective4 waypoint9)
         (visible_from objective4 waypoint10)
         (visible_from objective4 waypoint11)
         (visible_from objective4 waypoint12)
         (visible_from objective4 waypoint13)
         (visible_from objective4 waypoint14)
         (visible_from objective4 waypoint15)
         (visible_from objective4 waypoint16)
         (visible_from objective4 waypoint17)
         (visible_from objective4 waypoint18)
         (visible_from objective4 waypoint19)
         (visible_from objective4 waypoint20)
         (visible_from objective4 waypoint21)
         (visible_from objective4 waypoint22)
         (visible_from objective4 waypoint23)
         (visible_from objective5 waypoint0)
         (visible_from objective5 waypoint1)
         (visible_from objective5 waypoint2)
         (visible_from objective5 waypoint3)
         (visible_from objective5 waypoint4)
         (visible_from objective5 waypoint5)
         (visible_from objective5 waypoint6)
         (visible_from objective5 waypoint7)
         (visible_from objective5 waypoint8)
         (visible_from objective5 waypoint9)
         (visible_from objective5 waypoint10)
         (visible_from objective5 waypoint11)
         (visible_from objective5 waypoint12)
         (visible_from objective5 waypoint13)
         (visible_from objective5 waypoint14)
         (visible_from objective6 waypoint0)
         (visible_from objective6 waypoint1)
         (visible_from objective6 waypoint2)
         (visible_from objective6 waypoint3)
         (visible_from objective6 waypoint4)
         (visible_from objective6 waypoint5)
         (visible_from objective6 waypoint6)
         (visible_from objective6 waypoint7)
         (visible_from objective6 waypoint8)
         (visible_from objective6 waypoint9)
         (visible_from objective6 waypoint10)
         (visible_from objective7 waypoint0)
         (visible_from objective7 waypoint1)
         (visible_from objective7 waypoint2)
         (visible_from objective7 waypoint3)
         (visible_from objective7 waypoint4)
         (visible_from objective7 waypoint5)
         (visible_from objective7 waypoint6)
         (visible_from objective7 waypoint7)
         (visible_from objective7 waypoint8)
         (visible_from objective7 waypoint9)
         (visible_from objective7 waypoint10)
         (visible_from objective7 waypoint11)
         (visible_from objective7 waypoint12)
         (visible_from objective7 waypoint13)
         (visible_from objective7 waypoint14)
         (visible_from objective7 waypoint15)
         (visible_from objective7 waypoint16)
         (visible_from objective7 waypoint17)
         (visible_from objective7 waypoint18)
         (visible_from objective7 waypoint19)
         (visible_from objective7 waypoint20))
        (:goal
         (and (communicated_soil_data waypoint8)
              (communicated_soil_data waypoint23)
              (communicated_soil_data waypoint7)
              (communicated_soil_data waypoint11)
              (communicated_soil_data waypoint13)
              (communicated_soil_data waypoint20)
              (communicated_rock_data waypoint7)
              (communicated_rock_data waypoint14)
              (communicated_rock_data waypoint22)
              (communicated_rock_data waypoint16)
              (communicated_rock_data waypoint12)
              (communicated_rock_data waypoint10)
              (communicated_rock_data waypoint9)
              (communicated_rock_data waypoint21)
              (communicated_rock_data waypoint18)
              (communicated_image_data objective2 high_res)
              (communicated_image_data objective0 high_res)
              (communicated_image_data objective3 colour)
              (communicated_image_data objective7 colour)
              (communicated_image_data objective5 high_res)))
        (:constraints
         (and (preference a0 (always (at rover5 waypoint10)))
              (preference a1 (always (at rover1 waypoint4)))
              (preference a2 (always (empty rover0store)))
              (preference e0 (sometime (at rover7 waypoint21)))
              (preference e1 (sometime (at rover7 waypoint5)))
              (preference e2 (sometime (at rover7 waypoint4)))
              (preference e3 (sometime (at rover7 waypoint15)))
              (preference e4 (sometime (at rover7 waypoint14)))
              (preference e5 (sometime (at rover7 waypoint9)))
              (preference e6 (sometime (at rover6 waypoint20)))
              (preference e7 (sometime (at rover6 waypoint23)))
              (preference e8 (sometime (at rover6 waypoint1)))
              (preference e9 (sometime (at rover6 waypoint16)))
              (preference e10 (sometime (at rover6 waypoint18)))
              (preference e11 (sometime (at rover6 waypoint8)))
              (preference e12 (sometime (at rover6 waypoint7)))
              (preference e13 (sometime (at rover6 waypoint13)))
              (preference e14 (sometime (at rover6 waypoint11)))
              (preference e15 (sometime (at rover5 waypoint23)))
              (preference e16 (sometime (at rover5 waypoint18)))
              (preference e17 (sometime (at rover5 waypoint15)))
              (preference e18 (sometime (at rover4 waypoint5)))
              (preference e19 (sometime (at rover4 waypoint22)))
              (preference e20 (sometime (at rover4 waypoint21)))
              (preference e21 (sometime (at rover4 waypoint18)))
              (preference e22 (sometime (at rover4 waypoint15)))
              (preference e23 (sometime (at rover4 waypoint14)))
              (preference e24 (sometime (at rover4 waypoint9)))
              (preference e25 (sometime (at rover3 waypoint23)))
              (preference e26 (sometime (at rover3 waypoint1)))
              (preference e27 (sometime (at rover3 waypoint22)))
              (preference e28 (sometime (at rover3 waypoint21)))
              (preference e29 (sometime (at rover3 waypoint20)))
              (preference e30 (sometime (at rover3 waypoint9)))
              (preference e31 (sometime (at rover3 waypoint4)))
              (preference e32 (sometime (at rover2 waypoint23)))
              (preference e33 (sometime (at rover2 waypoint22)))
              (preference e34 (sometime (at rover2 waypoint9)))
              (preference e35 (sometime (at rover2 waypoint1)))
              (preference e36 (sometime (at rover2 waypoint14)))
              (preference e37 (sometime (at rover2 waypoint4)))
              (preference e38 (sometime (at rover1 waypoint18)))
              (preference e39 (sometime (at rover1 waypoint1)))
              (preference e40 (sometime (at rover0 waypoint12)))
              (preference e41 (sometime (at rover0 waypoint21)))
              (preference e42 (sometime (at rover0 waypoint18)))
              (preference e43 (sometime (at rover0 waypoint17)))
              (preference e44 (sometime (at rover0 waypoint15)))
              (preference e45 (sometime (at rover0 waypoint14)))
              (preference e46 (sometime (at rover0 waypoint6)))
              (preference e47 (sometime (at rover0 waypoint7)))
              (preference e48 (sometime (at rover0 waypoint2)))
              (preference e49
               (sometime (have_soil_analysis rover6 waypoint23)))
              (preference e50
               (sometime (have_soil_analysis rover6 waypoint20)))
              (preference e51
               (sometime (have_soil_analysis rover6 waypoint13)))
              (preference e52
               (sometime (have_soil_analysis rover6 waypoint11)))
              (preference e53 (sometime (have_soil_analysis rover6 waypoint8)))
              (preference e54 (sometime (have_soil_analysis rover6 waypoint7)))
              (preference e55 (sometime (full rover3store)))
              (preference e56
               (sometime (have_soil_analysis rover3 waypoint23)))
              (preference e57
               (sometime (have_soil_analysis rover3 waypoint20)))
              (preference e58
               (sometime (have_soil_analysis rover3 waypoint13)))
              (preference e59
               (sometime (have_soil_analysis rover0 waypoint11)))
              (preference e60 (sometime (have_soil_analysis rover0 waypoint8)))
              (preference e61 (sometime (have_soil_analysis rover0 waypoint7)))
              (preference e62
               (sometime (have_rock_analysis rover7 waypoint21)))
              (preference e63
               (sometime (have_rock_analysis rover7 waypoint16)))
              (preference e64
               (sometime (have_rock_analysis rover7 waypoint14)))
              (preference e65
               (sometime (have_rock_analysis rover7 waypoint10)))
              (preference e66 (sometime (have_rock_analysis rover7 waypoint9)))
              (preference e67 (sometime (full rover4store)))
              (preference e68
               (sometime (have_rock_analysis rover4 waypoint22)))
              (preference e69
               (sometime (have_rock_analysis rover4 waypoint21)))
              (preference e70
               (sometime (have_rock_analysis rover4 waypoint16)))
              (preference e71
               (sometime (have_rock_analysis rover4 waypoint14)))
              (preference e72
               (sometime (have_rock_analysis rover4 waypoint10)))
              (preference e73
               (sometime (have_rock_analysis rover3 waypoint22)))
              (preference e74
               (sometime (have_rock_analysis rover3 waypoint21)))
              (preference e75
               (sometime (have_rock_analysis rover3 waypoint18)))
              (preference e76 (sometime (have_rock_analysis rover3 waypoint9)))
              (preference e77
               (sometime (have_rock_analysis rover2 waypoint22)))
              (preference e78
               (sometime (have_rock_analysis rover2 waypoint21)))
              (preference e79
               (sometime (have_rock_analysis rover2 waypoint18)))
              (preference e80
               (sometime (have_rock_analysis rover2 waypoint14)))
              (preference e81 (sometime (have_rock_analysis rover2 waypoint9)))
              (preference e82 (sometime (calibrated camera3 rover2)))
              (preference e83 (sometime (have_image rover6 objective7 colour)))
              (preference e84 (sometime (have_image rover6 objective3 colour)))
              (preference e85
               (sometime (have_image rover6 objective2 high_res)))
              (preference e86
               (sometime (have_image rover6 objective0 high_res)))
              (preference e87
               (sometime (have_image rover6 objective5 high_res)))
              (preference e88
               (sometime (have_image rover5 objective2 high_res)))
              (preference e89
               (sometime (have_image rover5 objective0 high_res)))
              (preference e90
               (sometime (have_image rover5 objective5 high_res)))
              (preference e91 (sometime (have_image rover4 objective7 colour)))
              (preference e92 (sometime (have_image rover4 objective3 colour)))
              (preference e93
               (sometime (have_image rover4 objective0 high_res)))
              (preference e94
               (sometime (have_image rover4 objective5 high_res)))
              (preference e95
               (sometime (have_image rover2 objective2 high_res)))
              (preference e96
               (sometime (have_image rover2 objective5 high_res)))
              (preference e97 (sometime (have_image rover1 objective7 colour)))
              (preference e98 (sometime (have_image rover1 objective3 colour)))
              (preference e99
               (sometime (have_image rover1 objective2 high_res)))
              (preference e100
               (sometime (have_image rover1 objective0 high_res)))
              (preference e101
               (sometime (have_image rover1 objective5 high_res)))
              (preference o0 (at-most-once (at rover7 waypoint2)))
              (preference o1 (at-most-once (at rover7 waypoint16)))
              (preference o2 (at-most-once (at rover7 waypoint10)))
              (preference o3 (at-most-once (at rover6 waypoint4)))
              (preference o4 (at-most-once (at rover4 waypoint16)))
              (preference o5 (at-most-once (at rover4 waypoint7)))
              (preference o6 (at-most-once (at rover4 waypoint10)))
              (preference o7 (at-most-once (at rover4 waypoint2)))
              (preference o8 (at-most-once (at rover3 waypoint12)))
              (preference o9 (at-most-once (at rover3 waypoint13)))
              (preference o10 (at-most-once (at rover3 waypoint18)))
              (preference o11 (at-most-once (at rover2 waypoint18)))
              (preference o12 (at-most-once (at rover2 waypoint21)))
              (preference o13 (at-most-once (at rover2 waypoint13)))
              (preference o14 (at-most-once (at rover2 waypoint3)))
              (preference o15 (at-most-once (at rover0 waypoint22)))
              (preference o16 (at-most-once (at rover0 waypoint11)))
              (preference o17 (at-most-once (at rover0 waypoint8)))
              (preference o18 (at-most-once (empty rover6store)))
              (preference o19 (at-most-once (full rover6store)))
              (preference o20 (at-most-once (full rover0store)))
              (preference o21 (at-most-once (empty rover7store)))
              (preference o22 (at-most-once (full rover7store)))
              (preference o23 (at-most-once (empty rover2store)))
              (preference o24 (at-most-once (full rover2store)))
              (preference o25 (at-most-once (calibrated camera6 rover6)))
              (preference o26 (at-most-once (calibrated camera5 rover5)))
              (preference o27 (at-most-once (calibrated camera2 rover4)))
              (preference o28 (at-most-once (calibrated camera4 rover1)))
              (preference sb3
               (sometime-before (at rover4 waypoint7) (at rover7 waypoint4)))
              (preference sb6
               (sometime-before (at rover4 waypoint7) (at rover7 waypoint14)))
              (preference sb7
               (sometime-before (at rover4 waypoint7) (at rover7 waypoint9)))
              (preference sb12
               (sometime-before (at rover4 waypoint7) (at rover5 waypoint23)))
              (preference sb14
               (sometime-before (at rover4 waypoint7) (at rover5 waypoint15)))
              (preference sb17
               (sometime-before (at rover4 waypoint7) (at rover4 waypoint10)))
              (preference sb20
               (sometime-before (at rover4 waypoint7) (at rover4 waypoint9)))
              (preference sb23
               (sometime-before (at rover4 waypoint7) (at rover3 waypoint1)))
              (preference sb30
               (sometime-before (at rover4 waypoint7) (at rover2 waypoint18)))
              (preference sb31
               (sometime-before (at rover4 waypoint7) (at rover2 waypoint23)))
              (preference sb33
               (sometime-before (at rover4 waypoint7) (at rover2 waypoint21)))
              (preference sb39
               (sometime-before (at rover4 waypoint7) (at rover0 waypoint12)))
              (preference sb41
               (sometime-before (at rover4 waypoint7) (at rover0 waypoint11)))
              (preference sb42
               (sometime-before (at rover4 waypoint7) (at rover0 waypoint18)))
              (preference sb43
               (sometime-before (at rover4 waypoint7) (at rover0 waypoint17)))
              (preference sb45
               (sometime-before (at rover4 waypoint7) (at rover0 waypoint14)))
              (preference sb46
               (sometime-before (at rover4 waypoint7) (at rover0 waypoint6)))
              (preference sb49
               (sometime-before (at rover4 waypoint7) (at rover0 waypoint2)))
              (preference sb55
               (sometime-before (at rover4 waypoint7) (full rover3store)))
              (preference sb56
               (sometime-before (at rover4 waypoint7)
                (have_soil_analysis rover3 waypoint23)))
              (preference sb58
               (sometime-before (at rover4 waypoint7)
                (have_soil_analysis rover3 waypoint13)))
              (preference sb59
               (sometime-before (at rover4 waypoint7) (full rover0store)))
              (preference sb62
               (sometime-before (at rover4 waypoint7)
                (have_soil_analysis rover0 waypoint7)))
              (preference sb66
               (sometime-before (at rover4 waypoint7)
                (have_rock_analysis rover7 waypoint10)))
              (preference sb69
               (sometime-before (at rover4 waypoint7)
                (have_rock_analysis rover4 waypoint22)))
              (preference sb74
               (sometime-before (at rover4 waypoint7)
                (have_rock_analysis rover3 waypoint21)))
              (preference sb76
               (sometime-before (at rover4 waypoint7)
                (have_rock_analysis rover3 waypoint12)))
              (preference sb79
               (sometime-before (at rover4 waypoint7)
                (have_rock_analysis rover2 waypoint22)))
              (preference sb82
               (sometime-before (at rover4 waypoint7)
                (have_rock_analysis rover2 waypoint9)))
              (preference sb89
               (sometime-before (at rover4 waypoint7)
                (have_image rover6 objective3 colour)))
              (preference sb91
               (sometime-before (at rover4 waypoint7)
                (have_image rover6 objective0 high_res)))
              (preference sb95
               (sometime-before (at rover4 waypoint7)
                (have_image rover5 objective5 high_res)))
              (preference sb96
               (sometime-before (at rover4 waypoint7)
                (have_image rover4 objective7 colour)))
              (preference sb100
               (sometime-before (at rover4 waypoint7)
                (have_image rover1 objective7 colour)))
              (preference sb101
               (sometime-before (at rover4 waypoint7)
                (have_image rover1 objective3 colour)))
              (preference sb104
               (sometime-before (at rover4 waypoint7)
                (have_image rover1 objective5 high_res)))
              (preference sb110
               (sometime-before (at rover3 waypoint12) (at rover6 waypoint20)))
              (preference sb114
               (sometime-before (at rover3 waypoint12) (at rover6 waypoint13)))
              (preference sb123
               (sometime-before (at rover3 waypoint12) (at rover3 waypoint23)))
              (preference sb125
               (sometime-before (at rover3 waypoint12) (at rover3 waypoint21)))
              (preference sb126
               (sometime-before (at rover3 waypoint12) (at rover3 waypoint13)))
              (preference sb131
               (sometime-before (at rover3 waypoint12) (at rover2 waypoint23)))
              (preference sb132
               (sometime-before (at rover3 waypoint12) (at rover2 waypoint21)))
              (preference sb133
               (sometime-before (at rover3 waypoint12) (at rover2 waypoint13)))
              (preference sb135
               (sometime-before (at rover3 waypoint12) (at rover1 waypoint18)))
              (preference sb136
               (sometime-before (at rover3 waypoint12) (at rover1 waypoint1)))
              (preference sb147
               (sometime-before (at rover3 waypoint12)
                (have_soil_analysis rover6 waypoint8)))
              (preference sb150
               (sometime-before (at rover3 waypoint12)
                (have_soil_analysis rover3 waypoint23)))
              (preference sb152
               (sometime-before (at rover3 waypoint12)
                (have_soil_analysis rover3 waypoint13)))
              (preference sb155
               (sometime-before (at rover3 waypoint12)
                (have_soil_analysis rover0 waypoint8)))
              (preference sb158
               (sometime-before (at rover3 waypoint12)
                (have_rock_analysis rover7 waypoint16)))
              (preference sb159
               (sometime-before (at rover3 waypoint12)
                (have_rock_analysis rover7 waypoint14)))
              (preference sb162
               (sometime-before (at rover3 waypoint12)
                (have_rock_analysis rover4 waypoint22)))
              (preference sb164
               (sometime-before (at rover3 waypoint12)
                (have_rock_analysis rover4 waypoint14)))
              (preference sb168
               (sometime-before (at rover3 waypoint12)
                (have_rock_analysis rover3 waypoint18)))
              (preference sb180
               (sometime-before (at rover3 waypoint12)
                (have_image rover6 objective3 colour)))
              (preference sb182
               (sometime-before (at rover3 waypoint12)
                (have_image rover6 objective0 high_res)))
              (preference sb184
               (sometime-before (at rover3 waypoint12)
                (have_image rover5 objective0 high_res)))
              (preference sb186
               (sometime-before (at rover3 waypoint12)
                (have_image rover4 objective7 colour)))
              (preference sb187
               (sometime-before (at rover3 waypoint12)
                (have_image rover4 objective3 colour)))
              (preference sb189
               (sometime-before (at rover3 waypoint12)
                (have_image rover2 objective5 high_res)))
              (preference sb190
               (sometime-before (at rover3 waypoint12)
                (have_image rover1 objective7 colour)))
              (preference sb192
               (sometime-before (at rover3 waypoint12)
                (have_image rover1 objective2 high_res)))
              (preference sb196
               (sometime-before (have_rock_analysis rover4 waypoint7)
                (at rover7 waypoint21)))
              (preference sb199
               (sometime-before (have_rock_analysis rover4 waypoint7)
                (at rover7 waypoint10)))
              (preference sb201
               (sometime-before (have_rock_analysis rover4 waypoint7)
                (at rover7 waypoint14)))
              (preference sb204
               (sometime-before (have_rock_analysis rover4 waypoint7)
                (at rover6 waypoint23)))
              (preference sb208
               (sometime-before (have_rock_analysis rover4 waypoint7)
                (at rover6 waypoint7)))
              (preference sb212
               (sometime-before (have_rock_analysis rover4 waypoint7)
                (at rover5 waypoint15)))
              (preference sb214
               (sometime-before (have_rock_analysis rover4 waypoint7)
                (at rover4 waypoint15)))
              (preference sb222
               (sometime-before (have_rock_analysis rover4 waypoint7)
                (at rover3 waypoint22)))
              (preference sb229
               (sometime-before (have_rock_analysis rover4 waypoint7)
                (at rover2 waypoint23)))
              (preference sb234
               (sometime-before (have_rock_analysis rover4 waypoint7)
                (at rover2 waypoint1)))
              (preference sb239
               (sometime-before (have_rock_analysis rover4 waypoint7)
                (at rover0 waypoint21)))
              (preference sb241
               (sometime-before (have_rock_analysis rover4 waypoint7)
                (at rover0 waypoint18)))
              (preference sb244
               (sometime-before (have_rock_analysis rover4 waypoint7)
                (at rover0 waypoint14)))
              (preference sb250
               (sometime-before (have_rock_analysis rover4 waypoint7)
                (have_soil_analysis rover6 waypoint23)))
              (preference sb251
               (sometime-before (have_rock_analysis rover4 waypoint7)
                (have_soil_analysis rover6 waypoint20)))
              (preference sb255
               (sometime-before (have_rock_analysis rover4 waypoint7)
                (full rover3store)))
              (preference sb257
               (sometime-before (have_rock_analysis rover4 waypoint7)
                (have_soil_analysis rover3 waypoint20)))
              (preference sb259
               (sometime-before (have_rock_analysis rover4 waypoint7)
                (full rover0store)))
              (preference sb262
               (sometime-before (have_rock_analysis rover4 waypoint7)
                (have_soil_analysis rover0 waypoint7)))
              (preference sb263
               (sometime-before (have_rock_analysis rover4 waypoint7)
                (full rover7store)))
              (preference sb266
               (sometime-before (have_rock_analysis rover4 waypoint7)
                (have_rock_analysis rover7 waypoint14)))
              (preference sb269
               (sometime-before (have_rock_analysis rover4 waypoint7)
                (full rover4store)))
              (preference sb270
               (sometime-before (have_rock_analysis rover4 waypoint7)
                (have_rock_analysis rover4 waypoint22)))
              (preference sb273
               (sometime-before (have_rock_analysis rover4 waypoint7)
                (have_rock_analysis rover4 waypoint10)))
              (preference sb274
               (sometime-before (have_rock_analysis rover4 waypoint7)
                (have_rock_analysis rover3 waypoint22)))
              (preference sb280
               (sometime-before (have_rock_analysis rover4 waypoint7)
                (have_rock_analysis rover2 waypoint22)))
              (preference sb284
               (sometime-before (have_rock_analysis rover4 waypoint7)
                (calibrated camera6 rover6)))
              (preference sb288
               (sometime-before (have_rock_analysis rover4 waypoint7)
                (calibrated camera4 rover1)))
              (preference sb289
               (sometime-before (have_rock_analysis rover4 waypoint7)
                (have_image rover6 objective7 colour)))
              (preference sb292
               (sometime-before (have_rock_analysis rover4 waypoint7)
                (have_image rover6 objective0 high_res)))
              (preference sb298
               (sometime-before (have_rock_analysis rover4 waypoint7)
                (have_image rover4 objective3 colour)))
              (preference sb299
               (sometime-before (have_rock_analysis rover4 waypoint7)
                (have_image rover2 objective2 high_res)))
              (preference sb301
               (sometime-before (have_rock_analysis rover4 waypoint7)
                (have_image rover1 objective7 colour)))
              (preference sb302
               (sometime-before (have_rock_analysis rover4 waypoint7)
                (have_image rover1 objective3 colour)))
              (preference sb306
               (sometime-before (have_rock_analysis rover3 waypoint12)
                (at rover7 waypoint2)))
              (preference sb309
               (sometime-before (have_rock_analysis rover3 waypoint12)
                (at rover7 waypoint15)))
              (preference sb313
               (sometime-before (have_rock_analysis rover3 waypoint12)
                (at rover6 waypoint8)))
              (preference sb315
               (sometime-before (have_rock_analysis rover3 waypoint12)
                (at rover6 waypoint13)))
              (preference sb325
               (sometime-before (have_rock_analysis rover3 waypoint12)
                (at rover3 waypoint23)))
              (preference sb327
               (sometime-before (have_rock_analysis rover3 waypoint12)
                (at rover3 waypoint22)))
              (preference sb328
               (sometime-before (have_rock_analysis rover3 waypoint12)
                (at rover3 waypoint21)))
              (preference sb329
               (sometime-before (have_rock_analysis rover3 waypoint12)
                (at rover3 waypoint13)))
              (preference sb333
               (sometime-before (have_rock_analysis rover3 waypoint12)
                (at rover2 waypoint18)))
              (preference sb334
               (sometime-before (have_rock_analysis rover3 waypoint12)
                (at rover2 waypoint23)))
              (preference sb337
               (sometime-before (have_rock_analysis rover3 waypoint12)
                (at rover2 waypoint13)))
              (preference sb339
               (sometime-before (have_rock_analysis rover3 waypoint12)
                (at rover1 waypoint18)))
              (preference sb340
               (sometime-before (have_rock_analysis rover3 waypoint12)
                (at rover1 waypoint1)))
              (preference sb341
               (sometime-before (have_rock_analysis rover3 waypoint12)
                (at rover0 waypoint12)))
              (preference sb342
               (sometime-before (have_rock_analysis rover3 waypoint12)
                (at rover0 waypoint21)))
              (preference sb343
               (sometime-before (have_rock_analysis rover3 waypoint12)
                (at rover0 waypoint11)))
              (preference sb346
               (sometime-before (have_rock_analysis rover3 waypoint12)
                (at rover0 waypoint8)))
              (preference sb348
               (sometime-before (have_rock_analysis rover3 waypoint12)
                (full rover6store)))
              (preference sb350
               (sometime-before (have_rock_analysis rover3 waypoint12)
                (have_soil_analysis rover6 waypoint20)))
              (preference sb352
               (sometime-before (have_rock_analysis rover3 waypoint12)
                (have_soil_analysis rover6 waypoint11)))
              (preference sb356
               (sometime-before (have_rock_analysis rover3 waypoint12)
                (have_soil_analysis rover3 waypoint23)))
              (preference sb362
               (sometime-before (have_rock_analysis rover3 waypoint12)
                (have_soil_analysis rover0 waypoint7)))
              (preference sb364
               (sometime-before (have_rock_analysis rover3 waypoint12)
                (have_rock_analysis rover7 waypoint16)))
              (preference sb365
               (sometime-before (have_rock_analysis rover3 waypoint12)
                (have_rock_analysis rover7 waypoint14)))
              (preference sb366
               (sometime-before (have_rock_analysis rover3 waypoint12)
                (have_rock_analysis rover7 waypoint10)))
              (preference sb367
               (sometime-before (have_rock_analysis rover3 waypoint12)
                (full rover4store)))
              (preference sb368
               (sometime-before (have_rock_analysis rover3 waypoint12)
                (have_rock_analysis rover4 waypoint22)))
              (preference sb373
               (sometime-before (have_rock_analysis rover3 waypoint12)
                (have_rock_analysis rover3 waypoint22)))
              (preference sb374
               (sometime-before (have_rock_analysis rover3 waypoint12)
                (have_rock_analysis rover3 waypoint21)))
              (preference sb375
               (sometime-before (have_rock_analysis rover3 waypoint12)
                (have_rock_analysis rover3 waypoint18)))
              (preference sb376
               (sometime-before (have_rock_analysis rover3 waypoint12)
                (have_rock_analysis rover3 waypoint9)))
              (preference sb377
               (sometime-before (have_rock_analysis rover3 waypoint12)
                (full rover2store)))
              (preference sb379
               (sometime-before (have_rock_analysis rover3 waypoint12)
                (have_rock_analysis rover2 waypoint18)))
              (preference sb380
               (sometime-before (have_rock_analysis rover3 waypoint12)
                (have_rock_analysis rover2 waypoint9)))
              (preference sb381
               (sometime-before (have_rock_analysis rover3 waypoint12)
                (calibrated camera6 rover6)))
              (preference sb389
               (sometime-before (have_rock_analysis rover3 waypoint12)
                (have_image rover6 objective0 high_res)))
              (preference sb390
               (sometime-before (have_rock_analysis rover3 waypoint12)
                (have_image rover6 objective5 high_res)))
              (preference sb392
               (sometime-before (have_rock_analysis rover3 waypoint12)
                (have_image rover5 objective0 high_res)))
              (preference sb394
               (sometime-before (have_rock_analysis rover3 waypoint12)
                (have_image rover4 objective7 colour)))
              (preference sb397
               (sometime-before (have_rock_analysis rover3 waypoint12)
                (have_image rover2 objective5 high_res)))
              (preference sb399
               (sometime-before (have_rock_analysis rover3 waypoint12)
                (have_image rover1 objective3 colour)))
              (preference sb401
               (sometime-before (have_rock_analysis rover3 waypoint12)
                (have_image rover1 objective0 high_res)))
              (preference sb402
               (sometime-before (have_rock_analysis rover3 waypoint12)
                (have_image rover1 objective5 high_res)))))
        (:metric minimize
         (+ (* (is-violated sb402) 194.402)
            (* (is-violated sb401) 175.523)
            (* (is-violated sb399) 152.562)
            (* (is-violated sb397) 197.974)
            (* (is-violated sb394) 152.562)
            (* (is-violated sb392) 152.562)
            (* (is-violated sb390) 152.562)
            (* (is-violated sb389) 197.974)
            (* (is-violated sb381) 152.562)
            (* (is-violated sb380) 194.402)
            (* (is-violated sb379) 182.667)
            (* (is-violated sb377) 152.562)
            (* (is-violated sb376) 152.562)
            (* (is-violated sb375) 152.562)
            (* (is-violated sb374) 194.402)
            (* (is-violated sb373) 182.667)
            (* (is-violated sb368) 194.402)
            (* (is-violated sb367) 152.562)
            (* (is-violated sb366) 197.974)
            (* (is-violated sb365) 152.562)
            (* (is-violated sb364) 152.562)
            (* (is-violated sb362) 152.562)
            (* (is-violated sb356) 204.097)
            (* (is-violated sb352) 197.974)
            (* (is-violated sb350) 152.562)
            (* (is-violated sb348) 152.562)
            (* (is-violated sb346) 152.562)
            (* (is-violated sb343) 152.562)
            (* (is-violated sb342) 182.667)
            (* (is-violated sb341) 192.872)
            (* (is-violated sb340) 152.562)
            (* (is-violated sb339) 152.562)
            (* (is-violated sb337) 152.562)
            (* (is-violated sb334) 213.281)
            (* (is-violated sb333) 152.562)
            (* (is-violated sb329) 182.667)
            (* (is-violated sb328) 194.402)
            (* (is-violated sb327) 182.667)
            (* (is-violated sb325) 204.097)
            (* (is-violated sb315) 152.562)
            (* (is-violated sb313) 182.667)
            (* (is-violated sb309) 197.974)
            (* (is-violated sb306) 152.562)
            (* (is-violated sb302) 152.562)
            (* (is-violated sb301) 194.402)
            (* (is-violated sb299) 152.562)
            (* (is-violated sb298) 175.523)
            (* (is-violated sb292) 197.974)
            (* (is-violated sb289) 175.523)
            (* (is-violated sb288) 152.562)
            (* (is-violated sb284) 152.562)
            (* (is-violated sb280) 152.562)
            (* (is-violated sb274) 182.667)
            (* (is-violated sb273) 152.562)
            (* (is-violated sb270) 194.402)
            (* (is-violated sb269) 152.562)
            (* (is-violated sb266) 152.562)
            (* (is-violated sb263) 152.562)
            (* (is-violated sb262) 152.562)
            (* (is-violated sb259) 152.562)
            (* (is-violated sb257) 175.523)
            (* (is-violated sb255) 152.562)
            (* (is-violated sb251) 152.562)
            (* (is-violated sb250) 182.667)
            (* (is-violated sb244) 213.281)
            (* (is-violated sb241) 152.562)
            (* (is-violated sb239) 152.562)
            (* (is-violated sb234) 175.523)
            (* (is-violated sb229) 213.281)
            (* (is-violated sb222) 182.667)
            (* (is-violated sb214) 152.562)
            (* (is-violated sb212) 175.523)
            (* (is-violated sb208) 182.667)
            (* (is-violated sb204) 152.562)
            (* (is-violated sb201) 152.562)
            (* (is-violated sb199) 175.523)
            (* (is-violated sb196) 175.523)
            (* (is-violated sb192) 194.402)
            (* (is-violated sb190) 194.402)
            (* (is-violated sb189) 197.974)
            (* (is-violated sb187) 182.667)
            (* (is-violated sb186) 152.562)
            (* (is-violated sb184) 152.562)
            (* (is-violated sb182) 197.974)
            (* (is-violated sb180) 197.974)
            (* (is-violated sb168) 152.562)
            (* (is-violated sb164) 197.974)
            (* (is-violated sb162) 194.402)
            (* (is-violated sb159) 152.562)
            (* (is-violated sb158) 152.562)
            (* (is-violated sb155) 152.562)
            (* (is-violated sb152) 182.667)
            (* (is-violated sb150) 204.097)
            (* (is-violated sb147) 182.667)
            (* (is-violated sb136) 152.562)
            (* (is-violated sb135) 152.562)
            (* (is-violated sb133) 152.562)
            (* (is-violated sb132) 152.562)
            (* (is-violated sb131) 213.281)
            (* (is-violated sb126) 182.667)
            (* (is-violated sb125) 194.402)
            (* (is-violated sb123) 204.097)
            (* (is-violated sb114) 152.562)
            (* (is-violated sb110) 152.562)
            (* (is-violated sb104) 194.402)
            (* (is-violated sb101) 152.562)
            (* (is-violated sb100) 194.402)
            (* (is-violated sb96) 152.562)
            (* (is-violated sb95) 175.523)
            (* (is-violated sb91) 197.974)
            (* (is-violated sb89) 197.974)
            (* (is-violated sb82) 194.402)
            (* (is-violated sb79) 152.562)
            (* (is-violated sb76) 152.562)
            (* (is-violated sb74) 194.402)
            (* (is-violated sb69) 194.402)
            (* (is-violated sb66) 175.523)
            (* (is-violated sb62) 152.562)
            (* (is-violated sb59) 152.562)
            (* (is-violated sb58) 175.523)
            (* (is-violated sb56) 204.097)
            (* (is-violated sb55) 152.562)
            (* (is-violated sb49) 175.523)
            (* (is-violated sb46) 175.523)
            (* (is-violated sb45) 213.281)
            (* (is-violated sb43) 175.523)
            (* (is-violated sb42) 182.667)
            (* (is-violated sb41) 152.562)
            (* (is-violated sb39) 192.872)
            (* (is-violated sb33) 152.562)
            (* (is-violated sb31) 213.281)
            (* (is-violated sb30) 152.562)
            (* (is-violated sb23) 204.097)
            (* (is-violated sb20) 175.523)
            (* (is-violated sb17) 152.562)
            (* (is-violated sb14) 175.523)
            (* (is-violated sb12) 182.667)
            (* (is-violated sb7) 175.523)
            (* (is-violated sb6) 152.562)
            (* (is-violated sb3) 152.562)
            (* (is-violated o28) 175.523)
            (* (is-violated o27) 175.523)
            (* (is-violated o26) 175.523)
            (* (is-violated o25) 175.523)
            (* (is-violated o24) 182.667)
            (* (is-violated o23) 182.667)
            (* (is-violated o22) 175.523)
            (* (is-violated o21) 197.974)
            (* (is-violated o20) 182.667)
            (* (is-violated o19) 175.523)
            (* (is-violated o18) 175.523)
            (* (is-violated o17) 152.562)
            (* (is-violated o16) 152.562)
            (* (is-violated o15) 194.402)
            (* (is-violated o14) 194.402)
            (* (is-violated o13) 197.974)
            (* (is-violated o12) 197.974)
            (* (is-violated o11) 152.562)
            (* (is-violated o10) 204.097)
            (* (is-violated o9) 175.523)
            (* (is-violated o8) 152.562)
            (* (is-violated o7) 197.974)
            (* (is-violated o6) 152.562)
            (* (is-violated o5) 152.562)
            (* (is-violated o4) 194.402)
            (* (is-violated o3) 194.402)
            (* (is-violated o2) 197.974)
            (* (is-violated o1) 182.667)
            (* (is-violated o0) 152.562)
            (* (is-violated e101) 194.402)
            (* (is-violated e100) 175.523)
            (* (is-violated e99) 194.402)
            (* (is-violated e98) 152.562)
            (* (is-violated e97) 194.402)
            (* (is-violated e96) 197.974)
            (* (is-violated e95) 152.562)
            (* (is-violated e94) 213.281)
            (* (is-violated e93) 213.281)
            (* (is-violated e92) 175.523)
            (* (is-violated e91) 152.562)
            (* (is-violated e90) 175.523)
            (* (is-violated e89) 152.562)
            (* (is-violated e88) 182.667)
            (* (is-violated e87) 152.562)
            (* (is-violated e86) 197.974)
            (* (is-violated e85) 197.974)
            (* (is-violated e84) 197.974)
            (* (is-violated e83) 175.523)
            (* (is-violated e82) 152.562)
            (* (is-violated e81) 194.402)
            (* (is-violated e80) 204.097)
            (* (is-violated e79) 175.523)
            (* (is-violated e78) 152.562)
            (* (is-violated e77) 152.562)
            (* (is-violated e76) 152.562)
            (* (is-violated e75) 152.562)
            (* (is-violated e74) 194.402)
            (* (is-violated e73) 182.667)
            (* (is-violated e72) 152.562)
            (* (is-violated e71) 175.523)
            (* (is-violated e70) 175.523)
            (* (is-violated e69) 213.281)
            (* (is-violated e68) 194.402)
            (* (is-violated e67) 152.562)
            (* (is-violated e66) 182.667)
            (* (is-violated e65) 175.523)
            (* (is-violated e64) 152.562)
            (* (is-violated e63) 152.562)
            (* (is-violated e62) 182.667)
            (* (is-violated e61) 152.562)
            (* (is-violated e60) 152.562)
            (* (is-violated e59) 152.562)
            (* (is-violated e58) 175.523)
            (* (is-violated e57) 175.523)
            (* (is-violated e56) 204.097)
            (* (is-violated e55) 152.562)
            (* (is-violated e54) 182.667)
            (* (is-violated e53) 182.667)
            (* (is-violated e52) 197.974)
            (* (is-violated e51) 152.562)
            (* (is-violated e50) 152.562)
            (* (is-violated e49) 152.562)
            (* (is-violated e48) 175.523)
            (* (is-violated e47) 152.562)
            (* (is-violated e46) 175.523)
            (* (is-violated e45) 194.402)
            (* (is-violated e44) 192.872)
            (* (is-violated e43) 175.523)
            (* (is-violated e42) 152.562)
            (* (is-violated e41) 152.562)
            (* (is-violated e40) 175.523)
            (* (is-violated e39) 152.562)
            (* (is-violated e38) 152.562)
            (* (is-violated e37) 152.562)
            (* (is-violated e36) 204.097)
            (* (is-violated e35) 175.523)
            (* (is-violated e34) 175.523)
            (* (is-violated e33) 152.562)
            (* (is-violated e32) 213.281)
            (* (is-violated e31) 213.281)
            (* (is-violated e30) 152.562)
            (* (is-violated e29) 175.523)
            (* (is-violated e28) 194.402)
            (* (is-violated e27) 182.667)
            (* (is-violated e26) 175.523)
            (* (is-violated e25) 175.523)
            (* (is-violated e24) 175.523)
            (* (is-violated e23) 175.523)
            (* (is-violated e22) 152.562)
            (* (is-violated e21) 152.562)
            (* (is-violated e20) 213.281)
            (* (is-violated e19) 194.402)
            (* (is-violated e18) 213.281)
            (* (is-violated e17) 175.523)
            (* (is-violated e16) 152.562)
            (* (is-violated e15) 182.667)
            (* (is-violated e14) 197.974)
            (* (is-violated e13) 152.562)
            (* (is-violated e12) 182.667)
            (* (is-violated e11) 182.667)
            (* (is-violated e10) 152.562)
            (* (is-violated e9) 182.667)
            (* (is-violated e8) 175.523)
            (* (is-violated e7) 152.562)
            (* (is-violated e6) 152.562)
            (* (is-violated e5) 175.523)
            (* (is-violated e4) 152.562)
            (* (is-violated e3) 175.523)
            (* (is-violated e2) 152.562)
            (* (is-violated e1) 175.523)
            (* (is-violated e0) 175.523)
            (* (is-violated a2) 197.974)
            (* (is-violated a1) 175.523)
            (* (is-violated a0) 194.402)
	)))
